Robotic surgery methods

Abstract

Disclosed are systems, apparatus, and methods for performing robotic surgery, including a surgical robot having a plurality of robotic arms, an image capture device operably coupled to a first one of the plurality of robotic arms and a light source, a surgical tool operably coupled to a second one of the plurality of robotic arms and a light sensor, and a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to determine whether the light sensor coupled to the surgical tool is detecting at least a predetermined amount of light emitted by the light source coupled to the image capture device, and provide a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.

1 . A system for robotic surgery, the system comprising:
 a surgical robot including a plurality of robotic arms;   an image capture device operably coupled to a first one of the plurality of robotic arms and a light source;   a surgical tool operably coupled to a second one of the plurality of robotic arms and a light sensor; and   a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to:
 determine whether the light sensor coupled to the surgical tool is detecting at least a predetermined amount of light emitted by the light source coupled to the image capture device; and 
 provide a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
   
     
     
         2 . The system according to  claim 1 , wherein the instructions of the computing device, when executed by the processor, further cause the computing device to cause the surgical robot to reposition the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         3 . The system according to  claim 2 , wherein the surgical tool is repositioned towards the image capture device until the light sensor detects at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         4 . The system according to  claim 2 , wherein the surgical tool is a first surgical tool and the light sensor is a first light sensor, the system further comprising:
 a second surgical tool coupled to a third one of the plurality of robotic arms and a second light sensor,   wherein the instructions, when executed by the processor, further cause the computing device to:
 determine whether the second light sensor coupled to the second surgical tool is detecting at least a second predetermined amount of light emitted by the light source coupled to the image capture device; and 
 provide a notification when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device. 
   
     
     
         5 . The system according to  claim 4 , wherein the instructions, when executed by the processor, further cause the computing device to cause the surgical robot to reposition the second surgical tool when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         6 . The system according to  claim 1 , wherein the light sensor coupled to the surgical tool is located at a distal portion of the surgical tool. 
     
     
         7 . The system according to  claim 1 , further comprising a door for the light sensor coupled to the surgical tool,
 wherein the instructions, when executed by the processor, further cause the computing device to:
 determine whether the surgical tool is inserted into a trocar; 
 cause the surgical robot to open the door for the light sensor when it is determined that the surgical tool is inserted into the trocar; and 
 cause the surgical robot to close the door for the light sensor when it is determined that the surgical tool is not inserted into the trocar. 
   
     
     
         8 . The system according to  claim 1 , wherein the instructions, when executed by the processor, further cause the computing device to prevent activation of the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         9 . The system according to  claim 1 , further comprising:
 a pump for circulating coolant through the surgical tool,   wherein the instructions further cause the computing device to activate the pump to circulate coolant through the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.   
     
     
         10 . The system according to  claim 1 , wherein the surgical tool is an electrosurgical tool, and the system further comprises:
 an electrosurgical generator configured to provide electrosurgical energy to the surgical tool,   wherein the instructions, when executed by the processor, further cause the computing device to prevent the electrosurgical generator from providing electrosurgical energy to the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.   
     
     
         11 . The system according to  claim 1 , wherein the image capture device is a laparoscope. 
     
     
         12 . The system according to  claim 1 , wherein the predetermined amount of light is less than a total amount of light emitted by the light source coupled to the image capture device. 
     
     
         13 . A method for robotic surgery comprising:
 determining whether a light sensor coupled to a surgical tool is detecting at least a predetermined amount of light emitted by a light source coupled to an image capture device; and   providing a notification when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device.   
     
     
         14 . The method according to  claim 13 , wherein the surgical tool is coupled to a robotic arm of a surgical robot, and the method further comprises causing the surgical robot to reposition the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         15 . The method according to  claim 14 , wherein the surgical tool is repositioned towards the image capture device until the light sensor detects at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         16 . The method according to  claim 13 , wherein the surgical tool is a first surgical tool and the light sensor is a first light sensor, the method further comprising:
 determining whether a second light sensor coupled to a second surgical tool is detecting at least a second predetermined amount of light emitted by the light source coupled to the image capture device; and   providing a notification when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device.   
     
     
         17 . The method according to  claim 16 , wherein the second surgical tool is coupled to a robotic arm of a surgical robot, and the method further comprises causing the surgical robot to reposition the second surgical tool when it is determined that the second light sensor coupled to the second surgical tool is not detecting at least the second predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         18 . The method according to  claim 13 , further comprising:
 determining whether the surgical tool is inserted into a trocar;   opening a door for the light sensor when it is determined that the surgical tool is inserted into the trocar; and   closing the door for the light sensor when it is determined that the surgical tool is not inserted into the trocar.   
     
     
         19 . The method according to  claim 13 , further comprising preventing activation of the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         20 . The method according to  claim 13 , further comprising activating a pump to circulate coolant through the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         21 . The method according to  claim 13 , wherein the surgical tool is an electrosurgical tool, and the method further comprises preventing an electrosurgical generator from providing electrosurgical energy to the surgical tool when it is determined that the light sensor coupled to the surgical tool is not detecting at least the predetermined amount of light emitted by the light source coupled to the image capture device. 
     
     
         22 . The method according to  claim 13 , wherein the predetermined amount of light is less than a total amount of light emitted by the light source coupled to the image capture device. 
     
     
         23 - 32 . (canceled)